摘要
本文介绍了一种新型非径向三梁结构的六维机器人腕力传感器弹性体及其优化设计方法.三梁结构弹性体可提高应变式腕力传感器灵敏度和标定精度,改善径向效应,有利于传感器坐标设置.运用本文介绍的复合形优化设计方法,可使弹性体应梁截面尺寸达到最小,在确保负载能力和分辨率两项主要性能指标的前提下,减小弹性体的自重.它为应变式多维力传感器的设计和研究提供了一种有效的方法.
This paper presents a six-axis rolotic wrist force sensor with a new non-diametric three-beam stsucture andits optimum design.Using this non-diametric three-beam rtrcuture the sensitivity and the calibration preci-sion of the wrist force sensor will be raised,the diametric effect will be improved as well as the axes of thesensor will put up more conveniently.The complex optimum design method can minimized the normal sectionsize of the strain and decrease its self-weight of the sensor on the premises of ensuring of the capacity loadand resolving power.This papes gives an effective way to design and research of multidementional force sen-sor.
出处
《机器人》
EI
CSCD
北大核心
1992年第5期1-7,共7页
Robot
基金
国家自然科学基金
关键词
腕力
传感器
优化设计
弹性体
wrist force sensor
optimum design
spring beam
